8 papers
AMBUSH: Collaborative Capture in Complex Environments with Neural Acceleration
Junfeng Chen, YinHang Luo, Xinyi Wang +2
Collaborative capture of dynamic targets is common in nature as an essential strategy for weaker species against the strong. Similar concepts have shown to be useful for numerous r…
HECTOR: Human-centric Hierarchical Coordination and Supervision of Robotic Fleets under Continual Temporal Tasks
Shen Wang, Yinhang Luo, Jie Li +1
Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even i…
BodyGuards: Escorting by Multiple Robots in Unknown Environment under Limited Communication
Zhuoli Tian, Yanze Bao, Meng Guo
Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while naviga…
SLEI3D: Simultaneous Exploration and Inspection via Heterogeneous Fleets under Limited Communication
Junfeng Chen, Yuxiao Zhu, Xintong Zhang +2
Robotic fleets such as unmanned aerial and ground vehicles have been widely used for routine inspections of static environments, where the areas of interest are known and planned i…
Customize Harmonic Potential Fields via Hybrid Optimization over Homotopic Paths
Shuaikang Wang, Tiecheng Guo, Meng Guo
Safe navigation within a workspace is a fundamental skill for autonomous robots to accomplish more complex tasks. Harmonic potentials are artificial potential fields that are analy…
Uncertainty-bounded Active Monitoring of Unknown Dynamic Targets in Road-networks with Minimum Fleet
Shuaikang Wang, Yiannis Kantaros, Meng Guo
Fleets of unmanned robots can be beneficial for the long-term monitoring of large areas, e.g., to monitor wild flocks, detect intruders, search and rescue. Monitoring numerous dyna…
Accelerated K-Serial Stable Coalition for Dynamic Capture and Resource Defense
Junfeng Chen, Zili Tang, Meng Guo
Coalition is an important mean of multi-robot systems to collaborate on common tasks. An adaptive coalition strategy is essential for the online performance in dynamic and unknown…
Multi-Robot Trajectory Planning with Feasibility Guarantee and Deadlock Resolution: An Obstacle-Dense Environment
Yuda Chen, Chenghan Wang, Meng Guo +1
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. Th…